Katherine Marie Helmond (born July 5, 1929) is an American film, theater and television actress, voice artist and director. In her four decades of television, she is known for playing Emily Dickinson on Meeting of Minds, but is best known for her starring role as the ditzy matriarch Jessica Tate on the ABC prime time soap opera sitcom, Soap (1977–1981), her co-starring role as feisty mother, Mona Robinson on Who's the Boss? (1984–1992), opposite Tony Danza. She also played more mothers, Doris Sherman on Coach, and Lois Whelan on Everybody Loves Raymond. She has also appeared as a guest on several talk and variety shows.